Based on experimental data from wheeling experiments, a web-based model for the simulation of stress and the evaluation of the soil compaction risk under agricultural machinery named Terranimo® has been developed. Terranimo® incorporates a model for prediction of contact area, shape and stress distribution in the tyre–soil interface from wheel load and readily-available tyre parameters and the topsoil strength. In Terranimo® pedotransfer functions are used to estimate soil strength from clay content and matric potential. Principally, by limiting the imposed stress to below soil strength, the risk of soil compaction and undesirable changes of soil structure – and hence soil functions – can be minimized.